I live in NYC and don’t own a car, so all my errands involve walking. I usually take the subway to work but walk home (2ish miles). I grocery shop probably every other day, and walk there and back.
When I’m in the office (3 days per week usually), I make a concerted effort to get up and walk to the bathroom, get a coffee, or stretch my legs once an hour. When it’s nice outside I’ll take a 15 minute walk around lunchtime. If I’m WFH I try to take a morning walk and an afternoon walk. I will also hop on the treadmill for calls or periods where I am just reading something.
And at the end of the day, I will top up my steps if I’m not at 10k. It does require extra effort some days, even though I walk everywhere. I would imagine even more so if you live in the suburbs and are reliant on a car.